CN105058411A - Method for external force driving of moving piece in mechanical joint - Google Patents

Method for external force driving of moving piece in mechanical joint Download PDF

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Publication number
CN105058411A
CN105058411A CN201510471069.7A CN201510471069A CN105058411A CN 105058411 A CN105058411 A CN 105058411A CN 201510471069 A CN201510471069 A CN 201510471069A CN 105058411 A CN105058411 A CN 105058411A
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China
Prior art keywords
servomotor
movement parts
joint
movement
external force
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CN201510471069.7A
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CN105058411B (en
Inventor
林中尉
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Suzhou Fu robot Co Ltd
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林中尉
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00Arms
    • B25J18/02Arms extensible
    • B25J18/04Arms extensible rotatable
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00Controls for manipulators
    • B25J13/08Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085Force or torque sensors
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025Means for supplying energy to the end effector
    • B25J19/0029Means for supplying energy to the end effector arranged within the different robot elements
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1628Programme controls characterised by the control loop
    • B25J9/1633Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1628Programme controls characterised by the control loop
    • B25J9/1651Programme controls characterised by the control loop acceleration, rate control
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/30Nc systems
    • G05B2219/39Robotics, robotics to robotics hand
    • G05B2219/39325External force control, additional loop comparing forces corrects position

Abstract

The invention provides a method for external force driving of a moving piece in a mechanical joint, which can drive the moving piece in the mechanical joint with less force; the joint comprises a stationary piece, the moving piece and a driving mechanism; the driving mechanism comprises a servo motor, a driver and an encoder; the servo motor is connected with the moving piece; the method for external force driving of the moving piece in the mechanical joint comprises the following steps: the joint is located in a stationary state, the servo motor is located in a torque mode, and the servo motor outputs the resistance reduced torque with the direction changed along with the time; the moving piece is driven by external force, so that the moving piece moves corresponding to the stationary piece; the driver judges the moving direction of the moving piece according to the output of the encoder; if the moving piece moves in the positive direction corresponding to the stationary piece, the servo motor is controlled to stop outputting the resistance reduced torque or to output assistant torque for enabling the moving piece to have a positive moving tendency; and if the moving piece negatively moves corresponding to the stationary piece, the servo motor is controlled to stop outputting the resistance reduced torque or to output assistant torque for enabling the moving piece to have a negative moving tendency.

Description

The method of movement parts in external force driving device joint
Technical field
The present invention relates to the method for movement parts in external force driving device joint.
Background technology
Mechanical joint comprises the driving mechanism of static element and movement parts, the motion of actuation movement part geo-stationary part; Driving mechanism generally comprises motor, and the output shaft of motor is directly connected with movement parts or is indirectly connected with movement parts by transmission mechanism (as decelerator).Motor action, direct brought into motion part or moved relative to static element by transmission mechanism brought into motion part, realizes joint action.
Modern industry robot generally at least has a mechanical joint, by motor, makes described mechanical joint carry out repetitive operation.But in order to some specific purposes, such as, in order to realize the teaching of robot, need manual operation movement parts to move relative to static element.
But on motor, transmission mechanism (as decelerator) first-class use everywhere bearing, hermetic oil seal exist resistance, the magnetic resistance of motor itself, and on motor, the first-class pretightning force that may exist everywhere of transmission mechanism (as decelerator) etc. a variety of causes, cause mechanical joint itself to there is SR r.In addition, due to motor, by the retarded motion of decelerator brought into motion part, assuming that speed reducing ratio is i, so the motion of actuation movement part needs the resistance overcome will amplify i doubly, so when making movement parts move relative to static element by manpower, need very large strength that movement parts just can be made to move, or make by manpower to the greatest extent cannot movement parts motion at all, especially when mechanical joint is the very large mechanical joint of big machinery joint or power.
Summary of the invention
The object of this invention is to provide a kind of can with the method for movement parts in the external force driving device joint of movement parts in less force driving machine tool joint.
The method of movement parts in external force driving device joint of the present invention,
Described joint comprises the driving mechanism of static element and movement parts, the motion of actuation movement part geo-stationary part; Driving mechanism comprises servomotor, is electrically connected with servomotor with the driver controlling servomotor, encoder; The output shaft of servomotor is connected with movement parts;
In described external force driving device joint, the method for movement parts is,
A, mechanical joint remain static, servomotor is in torque mode, made by driver that servomotor outbound course is time dependent falls resistance moment of torsion, make movement parts have positive direction movement tendency or opposite direction movement tendency relative to static element, and the positive direction of movement tendency and opposite direction change in time;
B, with external force actuation movement part, movement parts is moved relative to static element; Driver judges the movement parts direction of motion according to the output of encoder; If movement parts relative to static element be positive direction motion, then by driver control servomotor stop export fall resistance moment of torsion or output make movement parts have the booster torquemoment of positive direction movement tendency; If movement parts is motion in the other direction relative to static element, then stops exporting by driver control servomotor and fall resistance moment of torsion or output makes movement parts have the booster torquemoment of movement tendency in the other direction.
Beneficial effect of the present invention: what repeatedly change due to servomotor outbound course falls resistance moment of torsion, makes movement parts also repeatedly change relative to the direction of the movement tendency of static element.When the direction that external force makes movement parts move with fall hinder moment of torsion make the direction of movement parts movement tendency identical time, only need less external force that movement parts can be made to realize motion.Before movement parts setting in motion, between each parts of mechanical joint, form static friction; After movement parts setting in motion, between each parts of mechanical joint, form dynamic friction; Because stiction is greater than kinetic force of friction, so the external force maintained needed for movement parts motion is less than the power made required for movement parts setting in motion.Thus, after movement parts motion, both make servomotor stop output falling resistance moment of torsion, and still only need less external force that movement parts just can be made to keep motion.Certainly, if after movement parts motion, servomotor exports booster torquemoment, and the direction making the direction of movement parts movement tendency and external force that movement parts is moved due to this booster torquemoment is identical, then can reduce further to maintain the external force required for movement parts operation.
The method of movement parts in described external force driving device joint, in step a, makes servomotor outbound course by driver and size is time dependent falls resistance moment of torsion.
The method of movement parts in described external force driving device joint, in step b, no matter movement parts is positive direction motion or motion in the other direction relative to static element, all export booster torquemoment by driver control servomotor, the size of this booster torquemoment be equal to or less than movement parts relative to static element setting in motion that moment resistance torque value falls.
The method of movement parts in described external force driving device joint, in step a, by driver make servomotor outbound course and size in time continually varying resistance moment of torsion falls.
The method of movement parts in described external force driving device joint, driving mechanism also comprises transmission mechanism, and the power input of transmission mechanism is connected with the output shaft of servomotor, and the power output member of transmission mechanism is connected with movement parts.Transmission mechanism comprises decelerator, and the output shaft of servomotor is connected with the power input of decelerator, and the power output member of decelerator is connected with movement parts.Decelerator is for including but not limited to planet-cycloid reducer.
The method of movement parts in described external force driving device joint, the hand-power that described external force is behaved.
The method of movement parts in described external force driving device joint, the falling resistance torque maximum in step a is, makes movement parts have positive direction movement tendency or in the other direction movement tendency but the maximum that can not move relative to static element.
The method of movement parts in described external force driving device joint, servomotor maintains described mechanical joint in output and is on the basis of the counter balance torque of poised state, carries out step a, b; That is, in step a, the output torque of servomotor is counter balance torque and falls the synthesis moment of torsion hindering moment of torsion; In step b, the output torque of servomotor is the synthesis moment of torsion of counter balance torque or counter balance torque and booster torquemoment.
Counter balance torque is the moment of torsion that mechanical joint loads to keep poised state.Such as: when the movement parts in a mechanical joint relative to static element at vertical in-plane moving time, motion is produced relative to static element under gravity in order to prevent movement parts, generally by servomotor, a counter balance torque is loaded to movement parts, this counter balance torque is contrary with the torque direction that gravity produces, size is substantially identical, the moment of torsion that such counter balance torque and gravity produce balances each other (both algebraical sums are zero), prevents movement parts under gravity at vertical in-plane moving.When the movement parts in a mechanical joint relative to static element at horizontal in-plane moving time, because gravity can not have an impact for the movement of movement parts at horizontal plane, so generally do not need servomotor to export counter balance torque, in other words, the counter balance torque that servomotor exports is zero.
This technology is on the basis that servomotor exports counter balance torque, carries out step a, b.That is, in step a, servomotor both exported counter balance torque, also exported and fell resistance moment of torsion, and in other words, the final output torque of servomotor is counter balance torque and fall the synthesis moment of torsion hindering moment of torsion.In step b, servomotor is while output counter balance torque, and servomotor stops output falling resistance moment of torsion or export booster torquemoment; In other words, state both step b exists, a kind of state is, the final output torque of servomotor is counter balance torque, and another kind of state is, the final output torque of servomotor is the synthesis moment of torsion of counter balance torque and booster torquemoment.
Accompanying drawing explanation
Fig. 1 is the structural representation of joint of robot;
The theory diagrams such as Tu2Shi robot main controller, servomotor;
Fig. 3 is the schematic diagram of the joint of robot of (robot is not operating) when starting timing;
Fig. 4 be start timing time (robot is not operating) joint 1,2 overlook schematic diagram;
Fig. 5 is the schematic diagram of the joint of robot after robot motion;
Fig. 6 be joint 1,2 after robot motion overlook schematic diagram.
Fig. 7 is the structural representation of mechanical joint;
Fig. 8 is the theory diagrams such as the servomotor of mechanical joint;
Fig. 9 is the schematic diagram of the joint of robot of (mechanical joint is not operating) when starting timing;
Figure 10 overlooks schematic diagram after mechanical joint action.
Detailed description of the invention
Embodiment 1:
Robot shown in Figure 1 comprises joint 1-3 totally 3 joints.
Joint 1 comprises as the holder of arm 11, arm 12, the driving mechanism 13, ring flange 14 etc. that drive arm 12 to rotate relative to holder.Driving mechanism 13 comprises servomotor 131, is electrically connected with the driver 132 controlling servomotor, the encoder 133 be connected with servomotor 131, decelerator 134 with servomotor.Ring flange 14 is fixed on arm (holder) 11, and servomotor 131 and decelerator 134 housing are all fixed on ring flange 14.The power shaft of decelerator 134 is connected with the output shaft of servomotor 131; Decelerator 134 output shaft is connected by bolt 15 with arm 12.Servomotor 131 action, by decelerator 134 drive arm 12 relative to holder 11 around axis 16 at horizontal rotation in surface.For joint 1, the static element of arm 11, arm 12 is movement parts.The counter balance torque n11 that servomotor 131 exports is zero.
Joint 2 comprises arm 12, arm 22, drives arm 12 and arm 22 driving mechanism 23, ring flange 24 etc. in relative rotation.Driving mechanism 23 comprises servomotor 231, is electrically connected with the driver 232 controlling servomotor, the encoder 233 be connected with servomotor 231, decelerator 234 with servomotor.Ring flange 24 is fixed on arm 22, and servomotor 231 and decelerator 234 housing are all fixed on ring flange 24.The power shaft of decelerator 234 is connected with the output shaft of servomotor 231; Decelerator 234 output shaft is connected by bolt 25 with arm 12.Servomotor 231 action, by decelerator 234 drive arm 22 relative to arm 12 around axis 26 at horizontal rotation in surface.For joint 2, the static element of arm 12, arm 22 is movement parts.The counter balance torque n21 that servomotor 231 exports is zero.
Joint 3 comprises arm 22, arm 32, drives arm 32 driving mechanism 33, electric machine support 34, line rail etc. that move up and down relative to arm 22.Driving mechanism 33 comprises servomotor 331, is electrically connected with the driver 332 controlling servomotor, the encoder 333 be connected with servomotor 331, shaft coupling 335, nut-screw rod mechanism etc. with servomotor.Nut-screw rod mechanism comprises rotating and is arranged on the leading screw 336 on leading screw seat 337, the take-up housing 338 be fixed on arm 22, coordinates and be fixed on the nut 339 etc. on take-up housing 338 with leading screw.Line rail comprises the line rail slide block 37 be arranged on take-up housing, slides up and down with line rail slide block the guide rail 38 coordinated.Electric machine support 34 and leading screw seat are all fixed on arm 32, and arm 32 and guide rail are fixed.Servomotor 331 action, drives screw turns by shaft coupling, because nut is fixed on arm 22 by take-up housing, so leading screw moves up and down relative to nut while rotation.When leading screw moves up and down, leading screw seat, servomotor 333, arm 32, guide rail etc. move up and down relative to take-up housing (with arm 22) together.Line rail is arranged between take-up housing and arm 32, plays guide effect to moving up and down of arm.For joint 2, the static element of arm 22, arm 32 is movement parts.Arm 32 is moved downward to prevent arm 32, servomotor 331, shaft coupling 335 etc. because of gravity relative to arm 22, servomotor 331 will export counter balance torque n31, cause moment of torsion with the gravity of offsetting the parts such as arm 32, servomotor 331, shaft coupling 335, prevent arm 32 grade from moving down under gravity.
See Fig. 2, main controller 6 is electrically connected with each driver 132,232,332, and the output of each encoder 133,233,333 connects main controller.
In hand-power driving device joint, the method for movement parts is as follows:
Each mechanical joint of a, robot remains static, each servomotor is made to be in torque mode by each driver, assuming that servomotor 131,231,331 exports size and Orientation while output counter balance torque fall resistance moment of torsion n12, n22, n32 in time in sinusoidal rule continually varying, the cycle of falling resistance moment of torsion is 0.2s.That is, the final output torque of servomotor 131,231,331 is counter balance torque n11, n21, n31 and the synthesis moment of torsion falling resistance moment of torsion n12, n22, n32.The maximum of falling resistance moment of torsion n12 has counterclockwise movement trend (or clockwise movement trend) but the maximum that can not move for making arm 22 relative to arm 12.The maximum of falling resistance moment of torsion n22 has counterclockwise movement trend (or clockwise movement trend) but the maximum that can not move for making arm 12 relative to arm 11.The maximum of falling resistance moment of torsion n32 is make arm 32 have relative to arm 22 trend of moving downward but the maximum that can not move.
Because the direction falling resistance moment of torsion n12 changes in time, so arm 12 has the trend that rotates counterclockwise of alternately change relative to arm 11 at horizontal plane and rotates clockwise trend.Because the direction falling resistance moment of torsion n22 changes in time, so arm 22 has the trend that rotates clockwise of alternately change relative to arm 12 at horizontal plane and rotates counterclockwise trend; Because the direction falling resistance moment of torsion n32 changes in time, so arm 32 has the trend that moves up of alternately change relative to arm 22 at vertical plane and moves down trend.Robot remains static.
B, with the arm 32 of hand-drive robot time, start timing, each encoder of main controller record is in the output valve when each moment of 0.01s.See Fig. 3,4, start the 0s of timing until 0.53s during this period of time, the angle between arm 12 and vertical plane 7 is 0 °, and arm 22 and the angle of arm 12 in horizontal plane are Y0, and the height that arm 32 top exceeds arm 22 place horizontal plane is H0.See Fig. 5,6, when 0.53s, the angle between arm 12 and vertical plane 7 is X1, and arm 22 and the angle of arm 12 in horizontal plane are Y1, and the height that arm 32 top exceeds arm 22 place horizontal plane is H1.That is, when 0.53s, joint 1,2,3 starts action (referring to that two arms in certain joint create relative motion).
For joint 1, main controller judges according to the output valve of encoder 133 when 0.53s, and arm 12 rotates clockwise relative to vertical plane 7.Main controller then controls servomotor 131 by driver 132, make servomotor 131 from 0.53s, stop output falling resistance moment of torsion n12(but counter balance torque continuation output), and output makes arm 12 have the booster torquemoment n13 of the trend of rotating clockwise at horizontal plane relative to arm 11, accomplishes the power-assisted of opponent manipulation robot.Booster torquemoment n13 size can be equal to or slightly less than the maximum of falling resistance moment of torsion n12 becoming sinusoidal rule to change before 0.53s.Although because counter balance torque n11(is zero) exist all the time in step a, b, that is, servomotor 131 is from 0.53s, and the final output torque of servomotor 131 is synthesis moments of torsion of counter balance torque n11 and booster torquemoment n13.But before 0.53s, the final output torque of servomotor 131 is counter balance torque n11 and the synthesis moment of torsion falling resistance moment of torsion n12.
For joint 2, main controller judges according to the output valve of encoder 233 when 0.53s, and arm 22 rotates clockwise relative to arm 12.Main controller then controls servomotor 231 by driver 232, make servomotor 231 from 0.53s, stop output falling resistance moment of torsion n22(but counter balance torque continuation output), and output makes arm 22 have the booster torquemoment n23 of the trend of rotating clockwise at horizontal plane relative to arm 12, accomplishes the power-assisted of opponent manipulation robot.Booster torquemoment n23 size can be equal to or slightly less than the maximum of falling resistance moment of torsion n22 becoming sinusoidal rule to change before 0.53s.Although because counter balance torque n21(is zero) exist all the time in step a, b, that is, servomotor 231 is from 0.53s, and the final output torque of servomotor 231 is synthesis moments of torsion of counter balance torque n21 and booster torquemoment n23.But before 0.53s, the final output torque of servomotor 231 is counter balance torque n11 and the synthesis moment of torsion falling resistance moment of torsion n22.
For joint 3, main controller judges according to the output valve of encoder 333 when 0.53s, and arm 32 reduces relative to arm 22 position.Main controller then controls servomotor 331 by driver 332, make servomotor 331 from 0.53s, stop output falling resistance moment of torsion n32(but counter balance torque continuation output), and output makes arm 32 have the booster torquemoment n33 of the trend of moving down at vertical plane relative to arm 22, accomplishes the power-assisted of opponent manipulation robot.Booster torquemoment n33 size can be equal to or slightly less than the maximum of falling resistance moment of torsion n32 becoming sinusoidal rule to change before 0.53s.Because counter balance torque n31 exists all the time in step a, b, that is, servomotor 331 is from 0.53s, and the final output torque of servomotor 331 is synthesis moments of torsion of counter balance torque n31 and booster torquemoment n33.But before 0.53s, the final output torque of servomotor 331 is counter balance torque n31 and the synthesis moment of torsion falling resistance moment of torsion n32.
Embodiment 2:
See the joint 1 shown in Fig. 7,8, comprise as the holder of arm 11, arm 12, the driving mechanism 13, ring flange 14 etc. that drive arm 12 to rotate relative to holder.Driving mechanism 13 comprises servomotor 131, is electrically connected with the driver 132 controlling servomotor, the encoder 133 be connected with servomotor 131, decelerator 134 with servomotor.The output of encoder 133 is driver connected.Ring flange 14 is fixed on arm (holder) 11, and servomotor 131 and decelerator 134 housing are all fixed on ring flange 14.The power shaft of decelerator 134 is connected with the output shaft of servomotor 131; Decelerator 134 output shaft is connected by bolt 15 with arm 12.Servomotor 131 action, by decelerator 134 drive arm 12 relative to holder 11 around axis 16 at horizontal rotation in surface.The static element of arm 11, arm 12 is movement parts.The counter balance torque exported because of servomotor 131 is zero, no longer considers.
In hand-power driving device joint, the method for movement parts is as follows:
A, driver make servomotor be in torque mode, assuming that servomotor 131 exports size and Orientation fall resistance moment of torsion n12 in time in cosine rule continually varying, its cycle is 0.4s.Because the direction falling resistance moment of torsion n12 changes in time, so arm 12 has the trend that rotates counterclockwise of alternately change relative to arm 11 at horizontal plane and rotates clockwise trend.Joint remains static.
B, with hand-drive arm 12 time, start timing, drive records encoder is in the output valve when each moment of 0.01s.See Fig. 9, start timing 0s until 2.40s during this period of time, the angle between arm 12 and vertical plane 7 is 0.See Figure 10, when 2.40s, the angle between arm 12 and vertical plane 7 is X1.That is, when 2.40s, joint 1 starts action.
Driver judges according to the output valve of encoder 133 when 2.40s, and arm 12 rotates clockwise relative to vertical plane 7.Driver 132 controls servomotor 131, make servomotor 131 from 2.40s, stop output falling resistance moment of torsion n12, and output makes arm 12 have the booster torquemoment n13 of the trend of rotating clockwise at horizontal plane relative to arm 11, accomplishes the power-assisted to hand operated joint.Booster torquemoment n13 size equals the maximum of falling resistance moment of torsion n12 becoming cosine rule to change before 2.40s.That is, servomotor 131 is from 2.40s, and servomotor 131 exports booster torquemoment n13.But before 2.40s, servomotor 131 exports and falls resistance moment of torsion.

Claims (10)

1. the method for movement parts in external force driving device joint,
Described joint comprises the driving mechanism of static element and movement parts, the motion of actuation movement part geo-stationary part; Driving mechanism comprises servomotor, is electrically connected with servomotor with the driver controlling servomotor, encoder; The output shaft of servomotor is connected with movement parts;
It is characterized in that: in described external force driving device joint, the method for movement parts is,
A, mechanical joint remain static, servomotor is in torque mode, made by driver that servomotor outbound course is time dependent falls resistance moment of torsion, make movement parts have positive direction movement tendency or opposite direction movement tendency relative to static element, and the positive direction of movement tendency and opposite direction change in time;
B, with external force actuation movement part, movement parts is moved relative to static element; Driver judges the movement parts direction of motion according to the output of encoder; If movement parts relative to static element be positive direction motion, then by driver control servomotor stop export fall resistance moment of torsion or output make movement parts have the booster torquemoment of positive direction movement tendency; If movement parts is motion in the other direction relative to static element, then stops exporting by driver control servomotor and fall resistance moment of torsion or output makes movement parts have the booster torquemoment of movement tendency in the other direction.
2. the method for movement parts in external force driving device joint as claimed in claim 1, is characterized in that: in step a, makes servomotor outbound course and size is time dependent falls resistance moment of torsion by driver.
3. the method for movement parts in external force driving device joint as claimed in claim 2, it is characterized in that: in step b, no matter movement parts is positive direction motion or motion in the other direction relative to static element, all export booster torquemoment by driver control servomotor, the size of this booster torquemoment be equal to or less than movement parts relative to static element setting in motion that moment resistance torque value falls.
4. the method for movement parts in external force driving device joint as claimed in claim 1, is characterized in that: in step a, by driver make servomotor outbound course and size in time continually varying resistance moment of torsion falls.
5. the method for movement parts in external force driving device joint as claimed in claim 1, it is characterized in that: driving mechanism also comprises transmission mechanism, the power input of transmission mechanism is connected with the output shaft of servomotor, and the power output member of transmission mechanism is connected with movement parts.
6. the method for movement parts in external force driving device joint as claimed in claim 5, it is characterized in that: transmission mechanism comprises decelerator, the output shaft of servomotor is connected with the power input of decelerator, and the power output member of decelerator is connected with movement parts.
7. the method for movement parts in external force driving device joint as claimed in claim 6, is characterized in that: decelerator is planet-cycloid reducer.
8. the method for movement parts in external force driving device joint as claimed in claim 1, is characterized in that: the hand-power that described external force is behaved.
9. the method for movement parts in external force driving device joint as claimed in claim 1, it is characterized in that: the falling resistance torque maximum in step a is, make movement parts have positive direction movement tendency or in the other direction movement tendency but the maximum that can not move relative to static element.
10. the method for movement parts in external force driving device joint as claimed in claim 1, is characterized in that: servomotor maintains described mechanical joint in output and is on the basis of the counter balance torque of poised state, carries out step a, b; That is, in step a, the output torque of servomotor is counter balance torque and falls the synthesis moment of torsion hindering moment of torsion, and in step b, the output torque of servomotor is the synthesis moment of torsion of counter balance torque or counter balance torque and booster torquemoment.
CN201510471069.7A 2015-08-04 2015-08-04 Method for external force driving of moving piece in mechanical joint Active CN105058411B (en)

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CN201510471069.7A CN105058411B (en) 2015-08-04 2015-08-04 Method for external force driving of moving piece in mechanical joint
PCT/CN2016/100692 WO2017020873A1 (en) 2015-08-04 2016-09-28 Method for external force to drive moving piece in mechanical joint
US15/742,591 US10668632B2 (en) 2015-08-04 2016-09-28 Method for external force to drive moving piece in mechanical joint

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Cited By (2)

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WO2017020873A1 (en) * 2015-08-04 2017-02-09 苏州阿福机器人有限公司 Method for external force to drive moving piece in mechanical joint
CN107538486A (en) * 2016-06-29 2018-01-05 沈阳新松机器人自动化股份有限公司 A kind of joint power control platform device, method and relevant apparatus

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